Design and Fabrication of Linear Gantry Robottic System to Automate Transformer Core Stacking Process

Abstract

The study highlights the solution of problem, that is not pre-engineered, through identifying the problem extensively using napkin sketch, budgeting, loads and speeds. Those key design considerations include movement, space requirements, and loads for our end customer. Cycle time, accuracy, precision, speeds are also decisive parameters in selection of actuator mechanisms. Belt and drive mechanism decision evaluation matrices are developed with selection criteria and our opted choice. Torque profile calculations are performed using modified approach of kinematics on Peter Corks’ robotics toolbox kit MATLAB which inculcates DH parameters, velocity-time graphs, and torque profiles for motor selection. This design on Vention.io platform demonstrates the effectiveness of using off-the-shelf components and evaluating cartesian robots' components. Vention.io’s components are designed to be modular, which means they can be easily assembled and customized to fit specific industrial applications. This reduces the time and cost of robot development and allows for quick modifications to the system. The system uses compressed air to actuate linear motion in the gantry, providing a low-cost and reliable solution for material handling and assembly processes. This study highlights the advantages of the pneumatic system and its suitability for a range of industrial applications. The selection of pneumatic system is carried out after considering alternate options our application.